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Depends. If taking the ferry from Kazungula to Zam side 2-3 hrs with the time extra to get on a ferry. Through Zim about 3-4 hrs. I don't know what the ferry costs off hand but cannot be much different than going through Zim.
Otherwords it maybe a tossup. I like the drive through Matesi because it can turn into a game drive. But the ferry trip cross the Zambezi can be to, albeit short.